WO2019174080A1

WO2019174080A1 - Floor sweeping robot and floor sweeping method and device thereof

Info

Publication number: WO2019174080A1
Application number: PCT/CN2018/082032
Authority: WO
Inventors: 王声平; 周毕兴
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2018-03-14
Filing date: 2018-04-04
Publication date: 2019-09-19
Also published as: CN108498013A

Abstract

A floor sweeping robot and a floor sweeping method and device therefor. The method comprises the following steps: during a floor sweeping process, detecting whether residual garbage exists in a target area (S11); and when residual garbage exists in the target area, re-cleaning the target area (S12). The floor sweeping method for the floor sweeping robot can ensure that no garbage is remained on the ground, and thus can thoroughly clean the ground, thereby improving a cleaning effect of the floor sweeping robot, avoiding a secondary manual cleaning process of a user, and improving user experience.

Description

Sweeping robot and method and device for sweeping the same

Technical field

The invention relates to the field of smart home technology, in particular to a sweeping robot and a method and device for sweeping the same.

Background technique

As the intelligence of sweeping robots has gradually increased, the cleaning efficiency has been greatly improved, and more and more families are beginning to use sweeping robots. At the same time, the complexity of the home environment has also made the sweeping robots face more and more challenges.

The sweeping effect of the sweeping robot, that is, whether it is cleaned or not, is an important factor in judging the performance of the sweeping robot. The existing sweeping robot is cleaned by fully covering the interior of the room, and the cleaning is completed after the whole house is cleaned for one round. However, due to the complexity of the environment and the cleaning mechanism of the sweeping robot itself, the cleaning effect is not good, and there are often residual garbage on the ground, which makes the user have to manually perform the second cleaning, which seriously reduces the user experience.

Therefore, how to improve the cleaning effect of the sweeping robot is a technical problem that needs to be solved at present.

technical problem

The main object of the present invention is to provide a sweeping robot and a method and device for sweeping the same, which improves the cleaning effect of the sweeping robot and improves the user experience.

Technical solution

In order to achieve the above objective, an embodiment of the present invention provides a method for sweeping a sweeping robot, and the method includes the following steps:

During the sweeping process, it is detected whether there is residual garbage in the target area;

When there is residual garbage in the target area, the target area is subjected to a re-cleaning process.

Optionally, the step of detecting whether there is residual garbage in the target area comprises:

Laser light is emitted by a laser emitting device;

Receiving laser light through a laser receiving device, the laser emitting device being disposed opposite to the laser receiving device at a bottom of the cleaning robot;

Determining whether the number of laser points received by the laser receiving device is less than or equal to a threshold;

When the number of laser spots received by the laser receiving device is less than or equal to a threshold, it is determined that the target area has residual garbage.

Transmitting ultrasonic waves and receiving echoes by an ultrasonic probe disposed at a bottom of the cleaning robot;

Determining whether the ultrasonic probe receives the echo within a preset time after transmitting the ultrasonic wave;

When the ultrasonic probe receives the echo within a preset time after transmitting the ultrasonic wave, it is determined that there is residual garbage in the target area.

Optionally, the step of performing a re-cleaning process on the target area includes:

Marking the target area as an area with residual garbage on the positioning map;

After the current round of cleaning is completed, the area where the residual garbage is left is cleaned again.

Optionally, the step of performing a re-cleaning process on the target area includes: immediately refreshing the target area.

Optionally, the laser receiving device is a photosensitive element.

Optionally, the photosensitive element is a photosensitive coupling element CCD.

Optionally, the laser emitting device and the laser receiving device are mounted behind the driving wheel of the cleaning robot.

Optionally, the cleaning robot includes two driving wheels, and the laser emitting device and the laser receiving device are respectively mounted behind a driving wheel.

Optionally, the distance between the laser emitting device and the laser receiving device from the ground is 0.2-0.5 cm.

The embodiment of the invention simultaneously provides a sweeping device for a sweeping robot, the device comprising:

The detecting module is configured to detect whether there is residual garbage in the target area during the sweeping process;

The cleaning module is configured to perform a re-cleaning process on the target area when there is residual garbage in the target area.

Optionally, the detecting module includes:

a transmitting unit for emitting laser light through a laser emitting device;

a receiving unit, configured to receive laser light by a laser receiving device, wherein the laser emitting device is disposed opposite to the laser receiving device at a bottom of the cleaning robot;

a first determining unit, configured to determine whether the number of laser points received by the laser receiving device is less than or equal to a threshold;

The first determining unit is configured to determine that the target area has residual garbage when the number of laser spots received by the laser receiving device is less than or equal to a threshold.

Optionally, the detecting module includes:

a detecting unit, configured to transmit ultrasonic waves and receive echoes through an ultrasonic probe, the ultrasonic detectors being disposed at a bottom of the cleaning robot;

a second determining unit, configured to determine whether the ultrasonic probe receives the echo within a preset time after transmitting the ultrasonic wave;

The second determining unit is configured to determine that there is residual garbage in the target area when the ultrasonic probe receives the echo within a preset time after transmitting the ultrasonic wave.

Optionally, the re-cleaning module includes:

a map marking unit, configured to mark the target area as an area with residual garbage on the positioning map when there is residual garbage in the target area;

The cleaning unit is again used to clean the area where the residual garbage is left after the current round of cleaning is completed.

Optionally, the re-cleaning module is configured to: when the target area has residual garbage, immediately refresh the target area.

Embodiments of the present invention also provide a cleaning robot including a memory, a processor, and at least one application stored in the memory and configured to be executed by the processor, the application being configured to be used for The sweeping method of the aforementioned sweeping robot is executed.

Beneficial effect

The method for sweeping the sweeping robot provided by the embodiment of the present invention detects whether there is residual garbage in the target area during the sweeping process, and when there is residual garbage in the target area, the target area is re-cleaned to ensure that the ground is not cleaned. Any rubbish left, the ground can be thoroughly cleaned, the cleaning effect of the sweeping robot is improved, and the user's manual secondary cleaning process is eliminated, which improves the user experience.

DRAWINGS

1 is a flow chart showing an embodiment of a method for sweeping a sweeping robot of the present invention;

2 is a flow chart showing the steps of detecting whether there is residual garbage in the target area in FIG. 1;

3 is a bottom view showing an example of a sweeping robot for implementing a sweeping method according to an embodiment of the present invention;

4 is a schematic block diagram of an embodiment of a sweeping device of the cleaning robot of the present invention;

Figure 5 is a block diagram of the detection module of Figure 4;

6 is another block diagram of the detection module of FIG. 4;

Figure 7 is a block diagram of the re-cleaning module of Figure 4.

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

BEST MODE FOR CARRYING OUT THE INVENTION

It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals are used to refer to the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

The singular forms "a", "an", "the" It is to be understood that the phrase "comprise" or "an" Integers, steps, operations, components, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element. Further, "connected" or "coupled" as used herein may include either a wireless connection or a wireless coupling. The phrase "and/or" used herein includes all or any one and all combinations of one or more of the associated listed.

Those skilled in the art will appreciate that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs, unless otherwise defined. It should also be understood that terms such as those defined in a general dictionary should be understood to have meaning consistent with the meaning in the context of the prior art, and will not be idealized or excessive unless specifically defined as here. The formal meaning is explained.

Referring to FIG. 1, an embodiment of a method for sweeping a cleaning robot of the present invention is proposed. The method includes the following steps:

S11. During the sweeping process, check whether there is residual garbage in the target area. When there is residual garbage in the target area, the process proceeds to the next step S12.

S12. Perform a re-cleaning process on the target area.

In step S11, the sweeping robot detects whether there is residual garbage in the target area in real time or timing during the sweeping process. The target area mainly refers to the area that has been cleaned, especially the newly cleaned area, such as the back of the sweeping robot. Ground area.

As shown in FIG. 2, in the embodiment of the present invention, the specific process of the cleaning robot detecting whether there is residual garbage in the target area is as follows:

S111. A laser is emitted by a laser emitting device.

S112. Receive laser light through a laser receiving device.

S113. Determine whether the number of laser points received by the laser receiving device is less than or equal to a threshold. When the number of laser spots received by the laser receiving device is less than or equal to the threshold, the process proceeds to step S114; when the number of laser spots received by the laser receiving device is greater than the threshold, the process proceeds to step S115.

S114. There is residual garbage in the target area of the judgment.

S115. There is no residual garbage in the target area.

In the embodiment of the present invention, a laser emitting device and a laser receiving device are added to the cleaning robot, and the two are oppositely disposed at the bottom of the cleaning robot, wherein the laser emitting device is used for emitting laser light, and the laser receiving device is configured to receive the laser emitting device for transmitting Laser. When the laser emitting device projects the laser light toward the laser receiving device, if there is garbage between the two, part of the laser light will be emitted back by the garbage, and the laser receiving device cannot be reached, thereby detecting the residual garbage on the ground.

As shown in FIG. 3, the cleaning robot includes two driving wheels 300, and the laser emitting device 100 and the laser receiving device 200 are mounted behind the driving wheel 300 of the cleaning robot. Preferably, the laser emitting device 100 and the laser receiving device 200 are respectively mounted. At the rear of a driving wheel 300, the detection range is maximized to detect whether there is garbage between the left and right sides of the cleaning robot.

In order to improve the accuracy of the garbage detection and prevent the leakage of the small-sized garbage, the laser emitting device 100 and the laser receiving device 200 are as close as possible to the ground, but are prevented from being bumped or misjudged, so that the laser emitting device 100 and the laser receiving device 200 are separated from each other. The distance from the ground is preferably from 0.2 to 0.5 cm.

The laser receiving device can select a photosensitive element such as a CCD (Charge Coupled Device) or a CMOS (Complementary) Metal-Oxide Semiconductor, a complementary oxidized metal semiconductor, etc., is preferably a CCD in the embodiment of the present invention. A CCD is an integrated circuit that has a number of neatly arranged capacitors that sense light.

In step S111, the sweeping robot controls the laser emitting device to emit laser light in real time or timing during the cleaning process.

In step S112, while the laser emitting device emits the laser light, the cleaning robot receives the laser light through the laser receiving device.

In step S113, the cleaning robot receives the number of laser spots received by the laser receiving device in real time or at a time, compares the number of laser spots (the number of laser spots) received by the laser receiving device with the threshold value, and determines the laser received by the laser receiving device. Whether the number of points is less than or equal to the threshold.

When there is no obstacle between the laser emitting device and the laser receiving device, the laser receiving device can receive a preset number of laser spots, and when there is an obstacle, the number of laser spots received by the laser receiving device is reduced.

Therefore, in step S114, when the number of laser spots received by the laser receiving device is less than or equal to the threshold value, the cleaning robot determines that there is an obstacle between the laser emitting device and the laser receiving device, and determines that the target area has residual garbage. In step S115, when the number of laser spots received by the laser receiving device is greater than the threshold value, the cleaning robot determines that there is no obstacle between the laser emitting device and the laser receiving device, and determines that there is no residual garbage in the target area.

The aforementioned threshold value can be determined according to actual needs and experience values, and it is necessary to prevent missed detection and prevent misjudgment to ensure the accuracy of detection.

In other embodiments, an ultrasonic probe may also be disposed at the bottom of the sweeping robot, preferably disposed on the side behind the drive wheel of the sweeper, the ultrasonic probe including the launch probe and the receive probe. The sweeping robot transmits ultrasonic waves through the transmitting probe of the ultrasonic probe, and receives echoes reflected by the ultrasonic waves through the receiving probe of the ultrasonic probe. If there is residual garbage at the bottom of the sweeping robot, the ultrasonic waves will be reflected back by the residual garbage, and the ultrasonic detector can receive the echo quickly. Therefore, the sweeping robot determines whether the ultrasonic probe is received within the preset time after the ultrasonic wave is transmitted. Echo, if it is, it is judged that there is residual garbage in the target area. The aforementioned preset time can be determined according to actual needs and experience values, and it is necessary to prevent missed detection and prevent misjudgment to ensure the accuracy of detection.

In order to improve the accuracy of garbage detection and prevent the leakage of small-sized garbage, the ultrasonic detector should be close to the ground as much as possible, but it must be prevented from being bumped or misjudged. Therefore, the distance between the ultrasonic detector and the ground is preferably 0.2-0.5 cm.

In still other embodiments, a laser detector may be disposed at the bottom of the sweeping robot, preferably disposed on a side behind the drive wheel of the sweeper, the laser probe including a launch probe and a receive probe. The sweeping robot emits laser light through the launching probe of the laser detector, and receives the reflected laser light through the receiving probe of the laser detector. If there is residual garbage at the bottom of the sweeping robot, the laser will be reflected back by the residual garbage, and the laser detector can receive the laser quickly. Therefore, the sweeping robot judges whether the laser detector receives the reflection within the preset time after the laser is emitted. The laser that came back, if it is, will have residual rubbish in the target area. The aforementioned preset time can be determined according to actual needs and experience values, and it is necessary to prevent missed detection and prevent misjudgment to ensure the accuracy of detection.

In order to improve the accuracy of garbage detection and prevent the leakage of small-sized garbage, the laser detector should be as close to the ground as possible, but it must be prevented from being bumped or misjudged. Therefore, the distance of the laser detector from the ground is preferably 0.2-0.5 cm.

It can be understood by those skilled in the art that the cleaning robot can also detect residual garbage by using other detectors and the like in the prior art, and the present invention will not be repeated here.

In step S12, when it is detected that there is residual garbage in the target area, the cleaning robot can perform the cleaning process on the area with the residual garbage until all the areas are cleaned, thereby improving the cleaning effect of the cleaning robot.

In the embodiment of the present invention, when it is detected that there is residual garbage in a certain area, the cleaning robot marks the target area as an area with residual garbage on the positioning map, but does not interrupt the normal cleaning progress, and continues to maintain the predetermined cleaning route. Sweep and continue the garbage inspection during the cleaning process until the current round is completed. After the current round of cleaning, the sweeping robot cleans the area with residual rubbish again according to the marking on the positioning map. When there are at least two areas with residual garbage, the sweeping robot plans the cleaning route according to the current position, and sequentially cleans the area marked with residual garbage on the map according to the planned cleaning route, and continues the garbage detection during the cleaning process. . This cycle is repeated until all areas are cleaned.

In other embodiments, when it is detected that there is residual garbage in a certain area, the cleaning robot stops the normal cleaning progress in time, immediately re-cleans the target area, and then continues to perform the normal cleaning progress after the cleaning is completed, so that the cleaning side is detected. After cleaning, when the cleaning is completed, all the areas have been cleaned.

The method for sweeping the cleaning robot of the embodiment of the present invention detects whether there is residual garbage in the target area during the sweeping process, and when there is residual garbage in the target area, the target area is re-cleaned to ensure that no garbage remains on the ground. The ground can be thoroughly cleaned, the cleaning effect of the sweeping robot is improved, the user's manual secondary cleaning process is eliminated, and the user experience is improved.

Referring to FIG. 4, an embodiment of a cleaning device for a cleaning robot according to the present invention is provided. The device includes a detection module 10 and a re-cleaning module 20, wherein: the detecting module 10 is configured to detect whether there is residual garbage in the target area; and the cleaning module 20 is further It is used to re-clean the target area when there is residual garbage in the target area.

In the embodiment of the present invention, during the sweeping process of the cleaning robot, the detecting module 10 detects whether there is residual garbage in the target area in real time or periodically, and the target area refers to the area that has been cleaned, especially the newly cleaned area, such as sweeping the ground. The ground area covered by the rear of the robot.

As shown in FIG. 5, in the embodiment of the present invention, the detecting module 10 includes a transmitting unit 11, a receiving unit 12, a first determining unit 13, and a first determining unit 14, wherein: the transmitting unit 11 is configured to emit laser light through a laser emitting device. The receiving unit 12 is configured to receive laser light by the laser receiving device, the laser emitting device is disposed opposite to the laser receiving device, and the determining unit is configured to determine whether the number of laser spots received by the laser receiving device is less than or equal to a threshold value; When the number of laser spots received by the laser receiving device is less than or equal to the threshold, it is determined that there is residual garbage in the target area.

The laser receiving device can select a photosensitive element such as a CCD (Charge Coupled Device) or a CMOS (Complementary) Metal-Oxide Semiconductor, complementary oxidized metal semiconductors, etc. In the embodiment of the invention, a CCD is preferred. The CCD is an integrated circuit having a plurality of neatly arranged capacitors for sensing light.

In the embodiment of the present invention, during the cleaning process of the cleaning robot, the transmitting unit 11 controls the laser emitting device to emit laser light in real time or timing. At the same time, the receiving unit 12 receives the laser light through the laser receiving device.

The first judging unit 13 compares the number of laser spots received by the laser receiving device in real time or at a time, compares the number of laser spots (the number of laser spots) received by the laser receiving device with the threshold value, and determines the number of laser spots received by the laser receiving device. Whether it is less than or equal to the threshold.

When there is no obstacle between the laser emitting device and the laser receiving device, the laser receiving device can receive a preset number of laser spots, and when there is an obstacle, the number of laser spots received by the laser receiving device is reduced. Therefore, when the number of laser spots received by the laser receiving device is less than or equal to the threshold, the first determining unit 14 determines that there is garbage (obstruction) between the laser emitting device and the laser receiving device, and determines that there is residual garbage in the target area. The aforementioned threshold value can be determined according to actual needs and experience values, and it is necessary to prevent missed detection and prevent misjudgment to ensure the accuracy of detection.

In other embodiments, an ultrasonic probe may also be disposed at the bottom of the sweeping robot, preferably disposed on the side behind the drive wheel of the sweeper, the ultrasonic probe including the launch probe and the receive probe.

At this time, the detecting module 10 includes a detecting unit 15, a second determining unit 16, and a second determining unit 17, as shown in FIG. 6, wherein: the detecting unit 15 is configured to transmit ultrasonic waves and receive echoes through the ultrasonic probe; The determining unit 16 is configured to determine whether the ultrasonic probe receives the echo within a preset time after transmitting the ultrasonic wave; and the second determining unit 17 is configured to receive the echo when the ultrasonic probe receives the ultrasonic wave within a preset time At the time of the judgment, there is residual garbage in the target area. The aforementioned preset time can be determined according to actual needs and experience values, and it is necessary to prevent missed detection and prevent misjudgment to ensure the accuracy of detection.

In some embodiments, the ultrasonic detector may be replaced by a laser detector, and the specific implementation is similar to that of the ultrasonic detector, and details are not described herein again.

It can be understood by those skilled in the art that the detection module 10 can also detect residual garbage by using other detectors and the like in the prior art, and the present invention will not be repeated here.

When it is detected that there is residual garbage in a certain area, the cleaning module 20 can re-clean the area with residual garbage until all the areas are cleaned, thereby improving the cleaning effect of the cleaning robot.

In the embodiment of the present invention, the re-cleaning module 20 includes a map marking unit 21 and a re-cleaning unit 22, as shown in FIG. 7, wherein: the map marking unit 21 is configured to: when determining that the target area has residual garbage, on the positioning map The target area is marked as an area with residual garbage; the cleaning unit 22 is again used to clean the area marked with residual garbage on the positioning map after the current round of cleaning is completed.

Specifically, when it is detected that there is residual garbage in a certain area, the map marking unit 21 marks the target area as an area with residual garbage on the positioning map, but does not interrupt the normal cleaning progress, so that the cleaning robot continues to maintain the predetermined cleaning. The route is cleaned and the garbage is detected during the cleaning process until the current round is completed. After the current round of cleaning is completed, the cleaning unit 22 again cleans the area where the residual garbage is present according to the marking on the positioning map. When there are at least two areas with residual garbage, the cleaning unit 22 performs cleaning route planning according to the current position, and sequentially cleans the area marked with residual garbage on the map according to the planned cleaning route, and the device continues at the same time during the cleaning process. Conduct garbage detection. This cycle is repeated until all areas are cleaned.

In other embodiments, when it is detected that there is residual garbage in a certain area, the cleaning module 20 stops the normal cleaning progress in time, immediately re-cleans the target area, and then continues to perform the normal cleaning progress after the cleaning is completed, so as to clean the area. After cleaning, the area is cleaned. When the cleaning is completed, all areas have been cleaned.

The sweeping device of the cleaning robot according to the embodiment of the present invention detects whether there is residual garbage in the target area during the sweeping process, and when there is residual garbage in the target area, the target area is re-cleaned to ensure that no garbage remains on the ground. The ground can be thoroughly cleaned, the cleaning effect of the sweeping robot is improved, the user's manual secondary cleaning process is eliminated, and the user experience is improved.

The present invention also proposes a cleaning robot comprising a memory, a processor and at least one application stored in the memory and configured to be executed by the processor, the application being configured to perform a method of sweeping the sweeping robot . The method for sweeping the ground includes the following steps: detecting whether there is residual garbage in the target area during the sweeping process; and re-cleaning the target area when there is residual garbage in the target area. The method of sweeping the sweeping robot described in this embodiment is the method of sweeping the sweeping robot according to the above embodiment of the present invention, and details are not described herein again.

Those skilled in the art will appreciate that the present invention includes apparatus that is directed to performing one or more of the operations described herein. These devices may be specially designed and manufactured for the required purposes, or may also include known devices in a general purpose computer. These devices have computer programs stored therein that are selectively activated or reconfigured. Such computer programs may be stored in a device (eg, computer) readable medium or in any type of medium suitable for storing electronic instructions and coupled to a bus, respectively, including but not limited to any Types of disks (including floppy disks, hard disks, optical disks, CD-ROMs, and magneto-optical disks), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable) Read-Only Memory, EEPROM (Electrically Erasable) Programmable Read-Only Memory, flash memory, magnetic card or light card. That is, a readable medium includes any medium that is stored or transmitted by a device (eg, a computer) in a readable form.

Those skilled in the art will appreciate that each block of the block diagrams and/or block diagrams and/or flow diagrams and combinations of blocks in the block diagrams and/or block diagrams and/or flow diagrams can be implemented by computer program instructions. . Those skilled in the art will appreciate that these computer program instructions can be implemented by a general purpose computer, a professional computer, or a processor of other programmable data processing methods, such that the processor is executed by a computer or other programmable data processing method. The blocks of the disclosed structure and/or block diagrams and/or flow diagrams or blocks specified in the various blocks.

Those skilled in the art can understand that the steps, measures, and solutions in the various operations, methods, and processes that have been discussed in the present invention may be alternated, changed, combined, or deleted. Further, other steps, measures, and schemes of the various operations, methods, and processes that have been discussed in the present invention may be alternated, modified, rearranged, decomposed, combined, or deleted. Further, the steps, measures, and solutions in the prior art having various operations, methods, and processes disclosed in the present invention may also be alternated, changed, rearranged, decomposed, combined, or deleted.

The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of the present invention.

Claims

A method for sweeping a sweeping robot, characterized in that it comprises the following steps:

During the sweeping process, it is detected whether there is residual garbage in the target area;

When there is residual garbage in the target area, the target area is subjected to a re-cleaning process.
The method for sweeping a cleaning robot according to claim 1, wherein the step of detecting whether there is residual garbage in the target area comprises:

Laser light is emitted by a laser emitting device;

Receiving laser light through a laser receiving device, the laser emitting device being disposed opposite to the laser receiving device at a bottom of the cleaning robot;

Determining whether the number of laser points received by the laser receiving device is less than or equal to a threshold;

When the number of laser spots received by the laser receiving device is less than or equal to a threshold, it is determined that the target area has residual garbage.
The method for sweeping a cleaning robot according to claim 1, wherein the step of detecting whether there is residual garbage in the target area comprises:

Transmitting ultrasonic waves and receiving echoes by an ultrasonic probe disposed at a bottom of the cleaning robot;

Determining whether the ultrasonic probe receives the echo within a preset time after transmitting the ultrasonic wave;

When the ultrasonic probe receives the echo within a preset time after transmitting the ultrasonic wave, it is determined that there is residual garbage in the target area.
The method for sweeping a cleaning robot according to any one of claims 1 to 3, wherein the step of performing a re-cleaning process on the target area comprises:

Marking the target area as an area with residual garbage on the positioning map;

After the current round of cleaning is completed, the area where the residual garbage is left is cleaned again.
The method for sweeping a cleaning robot according to any one of claims 1 to 3, wherein the step of performing a re-cleaning process on the target area comprises:

Re-clean the target area immediately.
The method of sweeping a cleaning robot according to claim 2, wherein the laser receiving device is a photosensitive element.
The method of sweeping a cleaning robot according to claim 6, wherein the photosensitive member is a photosensitive coupling element CCD.
The method of sweeping a cleaning robot according to claim 2, wherein the laser emitting device and the laser receiving device are mounted behind a driving wheel of the cleaning robot.
The method of sweeping a sweeping robot according to claim 8, wherein the sweeping robot comprises two driving wheels, and the laser emitting device and the laser receiving device are respectively mounted behind a driving wheel.
The method of sweeping a sweeping robot according to claim 2, wherein the laser emitting device and the laser receiving device are spaced from the ground by a distance of 0.2 to 0.5 cm.
A sweeping device for a sweeping robot, characterized in that it comprises:

The detecting module is configured to detect whether there is residual garbage in the target area during the sweeping process;

The cleaning module is configured to perform a re-cleaning process on the target area when there is residual garbage in the target area.
The sweeping device of the cleaning robot according to claim 11, wherein the detecting module comprises:

a transmitting unit for emitting laser light through a laser emitting device;

a receiving unit, configured to receive laser light by a laser receiving device, wherein the laser emitting device is disposed opposite to the laser receiving device at a bottom of the cleaning robot;

a first determining unit, configured to determine whether the number of laser points received by the laser receiving device is less than or equal to a threshold;

The first determining unit is configured to determine that the target area has residual garbage when the number of laser spots received by the laser receiving device is less than or equal to a threshold.
The sweeping device of the cleaning robot according to claim 11, wherein the detecting module comprises:

a detecting unit, configured to transmit ultrasonic waves and receive echoes through an ultrasonic probe, the ultrasonic detectors being disposed at a bottom of the cleaning robot;

a second determining unit, configured to determine whether the ultrasonic probe receives the echo within a preset time after transmitting the ultrasonic wave;

The second determining unit is configured to determine that there is residual garbage in the target area when the ultrasonic probe receives the echo within a preset time after transmitting the ultrasonic wave.
The cleaning device of the cleaning robot according to any one of claims 11 to 13, wherein the re-cleaning module comprises:

a map marking unit, configured to mark the target area as an area with residual garbage on the positioning map when there is residual garbage in the target area;

The cleaning unit is again used to clean the area where the residual garbage is left after the current round of cleaning is completed.
The sweeping device for a cleaning robot according to any one of claims 11 to 13, characterized in that the re-cleaning module is used for:

When there is residual garbage in the target area, the target area is immediately cleaned.
A cleaning device for a cleaning robot according to claim 12, wherein said laser receiving device is a photosensitive member.
A cleaning device for a cleaning robot according to claim 16, wherein said photosensitive member is a photosensitive coupling element CCD.
The cleaning device for a cleaning robot according to claim 12, wherein the laser emitting device and the laser receiving device are mounted behind a driving wheel of the cleaning robot.
The cleaning device for a cleaning robot according to claim 18, wherein the cleaning robot comprises two driving wheels, and the laser emitting device and the laser receiving device are respectively mounted behind a driving wheel.
A cleaning robot comprising a memory, a processor and at least one application stored in the memory and configured to be executed by the processor, wherein the application is configured to execute the claims The method of sweeping the sweeping robot according to any one of 1 to 10.